US10552971B2 - Measurement method, and terminal - Google Patents

Measurement method, and terminal Download PDF

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US10552971B2
US10552971B2 US15/561,287 US201515561287A US10552971B2 US 10552971 B2 US10552971 B2 US 10552971B2 US 201515561287 A US201515561287 A US 201515561287A US 10552971 B2 US10552971 B2 US 10552971B2
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image
camera
measured object
location offset
distance
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US20180130219A1 (en
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Xinggang Gu
Shaojun Chen
Shisheng Zheng
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Honor Device Co Ltd
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Huawei Technologies Co Ltd
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/593—Depth or shape recovery from multiple images from stereo images
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D7/00—Indicating measured values
    • G01D7/12—Audible indication of meter readings, e.g. for the blind
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00—General purpose image data processing
    • G06T1/0007—Image acquisition
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • G06T2207/10012—Stereo images
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20092—Interactive image processing based on input by user
    • G06T2207/20101—Interactive definition of point of interest, landmark or seed

Definitions

  • the present invention relates to the field of communications technologies, and in particular, to a measurement method and a terminal.
  • a user In daily life, a user usually needs to measure a distance or a length. For example, when purchasing furniture, a space of a house needs to be measured, and a length, a width, and a height of the furniture also need to be measured, so as to determine whether a size of the furniture matches the space of the house. To meet such measurement requirements, the user usually needs to purchase a length measurement tool such as a measuring tape, and carries the tool everywhere when needed. This brings great inconvenience. Once the user forgets to carry the tool, measurement cannot be performed, which causes a big headache. In addition, because of a limited length of such a tool, when a to-be-measured length exceeds a measuring range of the tool, multiple measurements need to be performed. This is inconvenient and leads to a relatively great error.
  • a length measurement tool such as a measuring tape
  • a distance from a to-be-measured object to a terminal may be measured based on the two cameras; however, a size of the to-be-measured object cannot be measured.
  • embodiments of the present invention provide a measurement method and a terminal, so as to resolve the problem that the terminal cannot measure a size of a to-be-measured object.
  • an embodiment of the present invention provides a measurement method, including: obtaining, by a terminal by using a first camera, a first image that includes a to-be-measured object, and obtaining, by using a second camera, a second image that includes the to-be-measured object, where the first camera and the second camera are disposed in a same plane; comparing locations of the to-be-measured object in the first image and in the second image, so as to obtain a total location offset of the to-be-measured object, where the total location offset is used to represent an offset of the location of the to-be-measured object in the first image relative to the location of the to-be-measured object in the second image; and receiving a measurement point selection instruction entered by a user based on the first image, and calculating a distance between selected measurement points according to the total location offset, a distance between a center of the first camera and a center of the second camera, and a focal length of the first camera.
  • the method further includes compressing imaging data of the first image and the total location offset, and storing the imaging data of the first image and the total location offset that are compressed as an image file.
  • the method also includes before the receiving a measurement point selection instruction entered by a user based on the first image, the method further includes. Additionally, the method includes parsing the image file, so as to obtain the imaging data of the first image and the total location offset and decoding the imaging data, so as to display the first image on a screen of the terminal.
  • the method further includes: displaying, on the screen of the terminal, a distance result obtained by means of calculation; or notifying, by means of voice, a user of a distance result obtained by means of calculation.
  • the receiving a measurement point selection instruction entered by a user based on the first image, and calculating a distance between selected measurement points according to the total location offset, a distance between a center of the first camera and a center of the second camera, and a focal length of the first camera is performed by using the following formula:
  • the method includes: if a user selects two measurement points, calculating a distance between the two measurement points; if a user selects more than two measurement points, successively calculating distances between every two neighboring measurement points according to a selection order.
  • an embodiment of the present invention provides a terminal, including: an obtaining unit, configured to obtain, by using a first camera, a first image that includes a to-be-measured object, and obtain, by using a second camera, a second image that includes the to-be-measured object, where the first camera and the second camera are disposed in a same plane.
  • the terminal also includes a comparison unit, configured to compare locations of the to-be-measured object in the first image and in the second image, so as to obtain a total location offset of the to-be-measured object, where the total location offset is used to represent an offset of the location of the to-be-measured object in the first image relative to the location of the to-be-measured object in the second image.
  • the terminal includes a calculation unit, configured to receive a measurement point selection instruction entered by a user based on the first image, and calculate a distance between selected measurement points according to the total location offset, a distance between a center of the first camera and a center of the second camera, and a focal length of the first camera.
  • the terminal further includes: a compression unit, configured to: compress imaging data of the first image and the total location offset, and store the imaging data of the first image and the total location offset that are compressed as an image file; a parsing unit, configured to parse the image file, so as to obtain the imaging data of the first image and the total location offset; and a decoding unit, configured to decode the imaging data, so as to display the first image on a screen of the terminal.
  • a compression unit configured to: compress imaging data of the first image and the total location offset, and store the imaging data of the first image and the total location offset that are compressed as an image file
  • a parsing unit configured to parse the image file, so as to obtain the imaging data of the first image and the total location offset
  • a decoding unit configured to decode the imaging data, so as to display the first image on a screen of the terminal.
  • the terminal further includes: a notification unit, configured to: display, on the screen of the terminal, a distance result obtained by means of calculation; or notify, by means of voice, a user of a distance result obtained by means of calculation.
  • a notification unit configured to: display, on the screen of the terminal, a distance result obtained by means of calculation; or notify, by means of voice, a user of a distance result obtained by means of calculation.
  • the calculation unit is specifically configured to calculate the distance between the selected measurement points by using the following formula:
  • the calculation unit is specifically configured to: if a user selects two measurement points, calculate a distance between the two measurement points; if a user selects more than two measurement points, successively calculate distances between every two neighboring measurement points according to a selection order.
  • an embodiment of the present invention provides a terminal, including: an input device, an output device, a memory, and a processor, where the input device includes a first camera and a second camera, configured to obtain images of a to-be-measured object; the input device, the output device, the memory, and the processor are connected to a bus, where the memory stores a set of program code; and the processor is configured to invoke the program code stored in the memory to perform the following operations: obtaining, by using the first camera, a first image that includes the to-be-measured object, and obtaining, by using the second camera, a second image that includes the to-be-measured object, where the first camera and the second camera are disposed in a same plane; comparing locations of the to-be-measured object in the first image and in the second image, so as to obtain a total location offset of the to-be-measured object, where the total location offset is used to represent an offset of the location of the to-be-measured object in the first image relative to
  • the processor is further configured to: after the obtaining a total location offset of the to-be-measured object, compress imaging data of the first image and the total location offset, and store the imaging data of the first image and the total location offset that are compressed as an image file; before the receiving a measurement point selection instruction entered by a user based on the first image, parse the image file, so as to obtain the imaging data of the first image and the total location offset; and decode the imaging data, so as to display the first image on a screen of the terminal.
  • the output device is configured to: after the calculating a distance between selected measurement points, display, on the screen of the terminal, a distance result obtained by means of calculation; or notify, by means of voice, a user of a distance result obtained by means of calculation.
  • the processor is specifically configured to calculate the distance between the selected measurement points by using the following formula:
  • the processor when calculating the distance between the selected measurement points, is specifically configured to: if a user selects two measurement points, calculate a distance between the two measurement points; if a user selects more than two measurement points, successively calculate distances between every two neighboring measurement points according to a selection order.
  • an embodiment of the present invention provides a computer storage medium, where the computer storage medium stores a program; and when being executed, the program includes the steps described in any one of a first aspect of the embodiments of the present invention or implementation manners of the first aspect.
  • a first image and a second image that are of a to-be-measured object are obtained by using two cameras, and a total location offset of the to-be-measured object is obtained by means of comparison and calculation.
  • a user may obtain the distance between the selected measurement points by means of calculation according to the total location offset, a distance between a center of the first camera and a center of the second camera, and a focal length of the first camera.
  • the user does not need to carry any extra measurement tool, and only needs to carry a terminal for photographing, thereby enriching functions of a terminal, and enhancing practicability and convenience of the terminal.
  • FIG. 1 is a schematic flowchart of a first embodiment of a measurement method according to the present invention
  • FIG. 2 is a schematic flowchart of a second embodiment of a measurement method according to the present invention.
  • FIG. 3 is a schematic diagram of composition of a first embodiment of a terminal according to the present invention.
  • FIG. 4 is a schematic diagram of composition of a second embodiment of a terminal according to the present invention.
  • FIG. 5 is a schematic diagram of composition of a third embodiment of a terminal according to the present invention.
  • FIG. 6 is a schematic diagram of a principle of calculating a distance according to the present invention.
  • a terminal in the embodiments of the present invention may include a smart phone having a dual-camera photographing function (such as an AndroidTM phone, an iOSTM phone, or a WindowsTM Phone phone), a tablet computer, a digital camera, a palmtop computer, a laptop computer, a mobile Internet device (mobile internet device, MID for short), a wearable device, or the like.
  • a smart phone having a dual-camera photographing function such as an AndroidTM phone, an iOSTM phone, or a WindowsTM Phone phone
  • a tablet computer such as an AndroidTM phone, an iOSTM phone, or a WindowsTM Phone phone
  • a digital camera such as an AndroidTM phone, an iOSTM phone, or a WindowsTM Phone phone
  • FIG. 1 is a schematic flowchart of a first embodiment of a measurement method according to the present invention.
  • the method includes the following steps.
  • a terminal obtains, by using a first camera, a first image that includes a to-be-measured object, and obtains, by using a second camera, a second image that includes the to-be-measured object.
  • the first camera and the second camera are disposed in a same plane.
  • a terminal may trigger photographing according to an operation of a terminal user. For example, the terminal user taps a photographing button of a camera application, or presses a specific physical button or a combination of multiple physical buttons, or enters a section of voice (such as “photograph” or “measure”), or makes a preset gesture to the terminal to trigger photographing. This is not limited in the embodiment of the present invention.
  • the terminal may have two, three, or more cameras. It is only required to ensure that images obtained by at least two cameras include the to-be-measured object.
  • the two cameras one may be set as a primary camera and the other may be set as a secondary camera, and the primary-secondary relationship may be freely switched.
  • an image photographed by the primary camera is stored.
  • the calculation is preformed based on a parameter of the primary camera that provides the image.
  • the first image and the second image may be obtained at the same time or successively obtained at a short time interval.
  • a location of the terminal is kept unchanged as much as possible during photographing, so as to obtain a first image and a second image with a maximum correlation. If locations of the terminal during the first photographing and during the second photographing are kept unchanged, the first image and the second image may be obtained at any time interval.
  • the total location offset is used to represent an offset of the location of the to-be-measured object in the first image relative to the location of the to-be-measured object in the second image. Because the two reference locations are distributed in two images, during specific calculation, an intermediate reference location, such as a center line of an image, may be introduced to make a comparison. Optionally, the total location offset may be obtained by means of calculation according to a location offset component of the to-be-measured object in the first image and a location offset component of the to-be-measured object in the second image.
  • Either of the location offset components is a distance from a location of the to-be-measured object in a corresponding image to a center line of the image, and the center line of the image is perpendicular to a line connecting a center of the first camera and a center of the second camera.
  • the terminal includes two cameras: a left camera and a right camera, and the two cameras are horizontally disposed, during photographing, the left camera obtains a first image, and the to-be-measured object in the first image generally has a leftward offset.
  • a center line of the first image in a vertical direction is used as a reference, that is, if a center line that is perpendicular to a line connecting the centers of the two cameras is used as a reference, a location offset component of the to-be-measured object in the first image may be obtained.
  • a location offset component of the to-be-measured object in the second image may be obtained.
  • a total location offset is a sum of the two location offset components in a horizontal direction.
  • only location offset components and a total location offset that are in a vertical direction need to be considered.
  • the terminal may prompt the user to select the measurement points based on the first image.
  • the first image is an image that is photographed by the primary camera, that is, the first camera, and that is stored by the terminal.
  • the user may select an edge point of the to-be-measured object as a first measurement point, and then select a second location of the to-be-measured object as a second measurement point. For example, when a size of a wardrobe in an image needs to be measured, an upper edge of the wardrobe may be first selected as a first measurement point, and then a lower edge that is perpendicular to the upper edge is used as a second measurement point.
  • the terminal may calculate a distance between the two measurement points according to the total location offset, the distance between the centers of the two cameras, and the focal length of the first camera.
  • the distance between the center of the first camera and the center of second camera may include a distance between the first camera and the second camera, include a distance between a lens of the first camera and a lens of the second camera, include a distance between an image sensor of the first camera and an image sensor of the second camera, or include the lens of the first camera and the image sensor of the second camera.
  • a distance between a photosensitive device of the first camera and any device including an edge of the second camera may be further included. This is not limited.
  • the terminal first calculates the length of the wardrobe according to the first measurement point and the second measurement point, and then calculates the width of the wardrobe according to the second measurement point and the third measurement point.
  • a resetting button or a re-measuring button may further be set for selection by a user. When a user selects resetting or re-measuring, all originally selected measurement points become invalid.
  • the distance between the selected measurement points may be calculated by using the following formula:
  • D 1 , a, h 1 are all known quantities.
  • values of (X p , Y p ), (X q , Y q ) may be obtained, and values of D p and D q may be obtained by performing step S 102 , and then a distance between the point p and the point q may be calculated by using the foregoing formula.
  • FIG. 6 is a schematic diagram of a principle of calculating a distance according to the present invention.
  • a location offset component obtained after the to-be-measured object is imaged by using the first camera is X 1
  • a location offset component obtained after the to-be-measured object is imaged by using the second camera is X 2
  • a distance between the center of the first camera and the center of the second camera is D 1
  • a distance from the center of the to-be-measured object to the line connecting the centers of the two cameras is Z
  • a distance from the center of the to-be-measured object to an extended center line of the first camera is X W .
  • an absolute length of the point X 1 in the direction of the x-axis is x 1 .
  • a vertical distance from the to-be-measured object to the terminal may be calculated.
  • a first image and a second image that are of a to-be-measured object are obtained by using two cameras, and a total location offset of the to-be-measured object is obtained by means of comparison and calculation.
  • a user may obtain the distance between the selected measurement points by means of calculation according to the total location offset, a distance between a center of the first camera and a center of the second camera, and a focal length of the first camera.
  • the user does not need to carry any extra measurement tool, and only needs to carry a terminal for photographing, thereby enriching functions of a terminal, and enhancing practicability and convenience of the terminal.
  • FIG. 2 is a schematic flowchart of a second embodiment of a measurement method according to the present invention.
  • the method includes the following steps.
  • a terminal obtains, by using a first camera, a first image that includes a to-be-measured object, and obtains, by using a second camera, a second image that includes the to-be-measured object.
  • the first camera and the second camera are disposed in a same plane.
  • the total location offset is used to represent an offset of the location of the to-be-measured object in the first image relative to the location of the to-be-measured object in the second image.
  • a user may not need to measure a size at once.
  • the user may compress the imaging data of the first image and the total location offset, and store the imaging data of the first image and the total location offset that are compressed as an image file, so that the user can perform measurement at any time.
  • the imaging data and the total location offset may be independently stored and configured with a specific mapping relationship. When viewing the first image and needing to measure a related distance, a user may invoke a corresponding total location offset at any time to perform calculation.
  • Displaying the first image on the screen of the terminal allows a user to intuitively view the image and more conveniently select a measurement point.
  • the user may be notified, by means of voice, of the distance result obtained by means of calculation.
  • a user may perform selection or combination according to a requirement of the user, for example, the user may select a manner of text displaying and voice broadcast. This is not limited in the embodiment of the present invention.
  • An embodiment of the present invention further provides a computer storage medium, where the computer storage medium stores a program; and when being executed, the program includes some or all of the steps in the measurement methods described in the foregoing method embodiments.
  • FIG. 3 is a schematic diagram of composition of a first embodiment of a terminal according to the present invention.
  • the terminal includes: an obtaining unit 100 , configured to: obtain, by using a first camera, a first image that includes a to-be-measured object, and obtain, by using a second camera, a second image that includes the to-be-measured object, where the first camera and the second camera are disposed in a same plane; a comparison unit 200 , configured to compare locations of the to-be-measured object in the first image and in the second image, so as to obtain a total location offset of the to-be-measured object, where: the total location offset is used to represent an offset of the location of the to-be-measured object in the first image relative to the location of the to-be-measured object in the second image; and the total location offset may be obtained by means of calculation according to a location offset component of the to-be-measured object in the first image and a location offset component of the to-
  • the calculation unit 300 is specifically configured to calculate the distance between the selected measurement points by using the following formula:
  • FIG. 4 is a schematic diagram of composition of a second embodiment of a terminal according to the present invention.
  • the terminal includes: an obtaining unit 100 , configured to: obtain, by using a first camera, a first image that includes a to-be-measured object, and obtain, by using a second camera, a second image that includes the to-be-measured object, where the first camera and the second camera are disposed in a same plane; a comparison unit 200 , configured to compare locations of the to-be-measured object in the first image and in the second image, so as to obtain a total location offset of the to-be-measured object, where: the total location offset is used to represent an offset of the location of the to-be-measured object in the first image relative to the location of the to-be-measured object in the second image; and the total location offset may be obtained by means of calculation according to a location offset component of the to-be-measured object in the first image and a location offset component of the to-
  • the calculation unit 300 is specifically configured to calculate the distance between the selected measurement points by using the following formula:
  • the terminal in this embodiment of the present invention further includes: a compression unit 400 , configured to: compress imaging data of the first image and the total location offset, and store the imaging data of the first image and the total location offset that are compressed as an image file; a parsing unit 500 , configured to parse the image file, so as to obtain the imaging data of the first image and the total location offset; a decoding unit 600 , configured to decode the imaging data, so as to display the first image on a screen of the terminal; and a notification unit 700 , configured to: display, on the screen of the terminal, a distance result obtained by means of calculation; or notify, by means of voice, a user of a distance result obtained by means of calculation.
  • a compression unit 400 configured to: compress imaging data of the first image and the total location offset, and store the imaging data of the first image and the total location offset that are compressed as an image file
  • a parsing unit 500 configured to parse the image file, so as to obtain the imaging data of the first image and the total location offset
  • the foregoing obtaining unit 100 , comparison unit 200 , calculation unit 300 , compression unit 400 , parsing unit 500 , decoding unit 600 , and notification unit 700 may exist independently, or may be disposed in an integrated manner.
  • the obtaining unit 100 , the comparison unit 200 , the calculation unit 300 , the compression unit 400 , the parsing unit 500 , the decoding unit 600 , or the notification unit 700 may be disposed independently of a processor of a terminal in a hardware form, and the disposal form may be a microprocessor form; may be built in the processor of the terminal in the hardware form; or may be stored in a memory of the terminal in a software form, so that the processor of the terminal invokes and executes operations corresponding to the foregoing obtaining unit 100 , comparison unit 200 , calculation unit 300 , compression unit 400 , parsing unit 500 , decoding unit 600 , and notification unit 700 .
  • the calculation unit 300 may be a processor of the terminal; and functions of the obtaining unit 100 and the comparison unit 200 may be built in the processor, may be disposed independently of the processor, or may be stored in the processor in a software form, so that the processor invokes and implements the functions of the obtaining unit 100 and the comparison unit 200 .
  • the foregoing processor may be a central processing unit (CPU), a microprocessor, a single-chip microcomputer, or the like.
  • FIG. 5 is a schematic diagram of composition of a third embodiment of a terminal according to the present invention.
  • the terminal includes: an input device 10 , an output device 20 , a memory 30 , and a processor 40 , where the input device 10 includes a first camera and a second camera, configured to obtain images of a to-be-measured object; the input device 10 , the output device 20 , the memory 30 , and the processor 40 are connected to a bus, where the memory 30 stores a set of program code; and the processor 40 is configured to invoke the program code stored in the memory 30 to perform the following operations: obtaining, by using the first camera, a first image that includes the to-be-measured object, and obtaining, by using the second camera, a second image that includes the to-be-measured object, where the first camera and the second camera are disposed in a same plane; comparing locations of the to-be-measured object in the first image and in the second image, so as to obtain a total location
  • the processor 40 is further configured to: after the obtaining a total location offset of the to-be-measured object, compress imaging data of the first image and the total location offset, and store the imaging data of the first image and the total location offset that are compressed as an image file; before the receiving a measurement point selection instruction entered by a user based on the first image, parse the image file, so as to obtain the imaging data of the first image and the total location offset; and decode the imaging data, so as to display the first image on a screen of the terminal.
  • the output device 20 is configured to: after the calculating a distance between selected measurement points, display, on the screen of the terminal, a distance result obtained by means of calculation; or notify, by means of voice, a user of a distance result obtained by means of calculation.
  • the processor 40 is further specifically configured to calculate the distance between the selected measurement points by using the following formula:
  • the present invention has the following advantages.
  • a first image and a second image that are of a to-be-measured object are obtained by using two cameras, and a total location offset of the to-be-measured object is obtained by means of comparison and calculation.
  • a user may obtain the distance between the selected measurement points by means of calculation according to the total location offset, a distance between a center of the first camera and a center of the second camera, and a focal length of the first camera.
  • the user does not need to carry any extra measurement tool, and only needs to carry a terminal for photographing, thereby enriching functions of a terminal, and enhancing practicability and convenience of the terminal.
  • the program may be stored in a computer readable storage medium.
  • the foregoing storage medium includes: any medium that can store program code, such as a read only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc.

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JP6490242B2 (ja) 2019-03-27
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